Projects Related to OTREES
FA means funding already available
NuttX on NXP i.MX RT (Teensy 4.0) and CAN FD (FA)
The project goal is to bringup Teensy BSP into NuttX and test and contribute to CAN FD support.
Initial work has already been done by Michal Lenc. See his local project development repository.
Teensy 4x BSP pull request merged into NuttX mainline, but here are still many tasks to work on left.
Contribute to pysimCoder
pysimCoder The Python based open source alternative for Simulink intended for education when full system is under control control, can be seen in the source form and understood and easily extend. Target supports GNU/Linux in RT configurations, Raspberry Pi, standalone MCU boards and NuttX (thanks to OTREES related work). Simple model has been tested to load over TFTP and run on Teensy-4.1 BaseBoard.
To make project usable in education, there is need to prepare blocks representing more peripherals on targets. Extension of the base block diagrams editing system in Phyton can be another part of the project.
Test and Extend NuttX Matalab/Simulink Target
NuttX target support has been included in the Minimalist Simulink Coder Target for Linux (ert_linux) already. Generated executable has been tested to load over TFTP into running NuttX system on next boards
- LX_CPU (mainline NuttX configuration lx_cpu:nsh)
- Teensy-4.1 BaseBoard (mainline NuttX configuration teensy-4.x:pikron-bb)
There is space to add blocks representing CAN, sensors, motor control etc.
RTEMS on NXP i.MX RT (Teensy 4.0) and CAN FD
RTEMS Matalab/Simulink Target
Motion Controller (PMSM and Stepper Motors) Based on i.MX RT
Design of new hardware.
An development carrier board for Teensy 4.1 already designed by Petr Porazil from PiKRON company, complete design schematic and PCB sources https://gitlab.com/pikron/projects/imxrt-devel. The hw/teensy_bb-1.tdb can be opened by PEDA EDA system.
It cab be used as base for designs tuned for individual robotic applications.
i.MX RT Based Open Hardware Controller for Elektroline.cz (FA)
Design of new hardware.
The first evaluation version of railway/tram presence system combining imxRT and Texas Instruments safety MCU from TMS570 familly already tested to acquire frequency response.
But design of more less critical systems is waiting still.
MZ_APO Xilinx Zynq related projects
The project with standard educational peripherals for MZ_APO kits is available there https://gitlab.fel.cvut.cz/canbus/zynq/zynq-can-sja1000-top as part CTU FEE CAN bus related projects.
The description how to build design including two peripherals to connect DC motors to PMOD1 and PMOD2 connectors is described in the project Wiki
HDL Design of DMA Based Framebuffer Output to Parallel Connected LCD (FA)
Filip Kučera's and Kamila Zeleňáková's development repository
HDL Design of Interface and Drivers for Stereo CMOS Camera Chips (FA)
Hardware is already available. "Only" Chips Interface HDL and Video4Linux v2 (V4L2) driver is required.
LVDS Connected PMSM Motor Power Driver and Sensors Interface (FA)
RISC-V Implementation working in parallel to ARM Core on MZ_APO Board (FA)
Consider to participate in Robert Owen and professor Patterson course material preparation and test them on MZ_APO kits.
Bluetooth firmware and mobile applications to control suits illumination (FA)
We have found that open-source BLE stack for nRF52 is already in development for NuttX by others.
Bluetooth human interface device (mechanical design, firmware, open-hardware)
We have designed mouse-like device with optical and inertial senzors at PiKRON and can share experience and the important pieces of firmware design. Project would consist of mechanical design design of classical mouse device usable with laptops and mobile phones which switches into inertial 3D mode (magnetometer, gyro, accelerometer) when taken up from the table. It could be cool CTU FEE present objects.
Projects Open for Participation
QtMips Simulator to RISC-V Switch/Support Extension (FA)
Max Hollmann's and Jakub Dupák's development repository
CAN Bus Related Projects
See http://canbus.pages.fel.cvut.cz/ for running and done projects
There are plenty of tasks related to testing CTU CAN FD core design, drivers, port of Linux driver to RTEMS, NuttX, update Matlab/Simulink CTU CAN blocks-set to support CAN FD, more SocketCAN channels etc.
Porting of OrtCAN to RTEMS, extension of NuttX OrtCAN support.
ORTE Data-Distribution Service (DDS) Implementation
ORTE implements the Real-Time Publish-Subscribe (RTPS) communication protocol. DDS (version 2) is used as a coreRobot Operating System version 2 (ROS 2) components communication protocol. ORTE is very light-way implementation of DDS protocol version 1 which has been developed at Department of Control Engineering FEE CTU and allowed standardization of the original version which required the second independent interoperable implementation. Project waits for update to protocol version 2, analysis and substantial part of update has been already done in frame of Jiří Hubáček's diploma theses Implementation of actual version of DDSI-RTPS protocol for distributed control in Ethernet network
Project pages http://orte.sourceforge.net/